from launch import LaunchDescription
from launch_ros.actions import Node
import os

# use an xbox controller to test odometry functionality, robot is needed


def generate_launch_description():
    params_odom = [
        {
            "remote_ip": "192.168.1.100",
            "local_ip": "192.168.1.125",
            "frame_id": "odom",
            "child_frame_id": "base_footprint",
            "track_width": 0.4,
            "wheel_base": 0.525,
            "scale_pos": 163800.0,
            "scale_vel": 27.44,
            "driver_model": "Differential",
        }
    ]
    return LaunchDescription(
        [
            # odometry and cmd_vel->motor
            Node(
                package="robot_driver",
                parameters=params_odom,
                executable="odom_node",
                output="screen",
            ),
        ]
    )
